منابع مشابه
k-Robust Multi-Agent Path Finding
This paper presents a planner that can solve the k-robust MAPF planner which is based on the Conflict-based search (CBS) (Sharon et al. 2015) MAPF solver. CBS does not explicitly search the n-agent state space. Instead, agents are associated with constraints of the form 〈ai, v, t〉, which would prohibit agent ai from occupying vertex v at time step t. A consistent path for agent ai is a path tha...
متن کاملMulti-Agent Path Finding with Delay Probabilities
Several recently developed Multi-Agent Path Finding (MAPF) solvers scale to large MAPF instances by searching for MAPF plans on 2 levels: The high-level search resolves collisions between agents, and the low-level search plans paths for single agents under the constraints imposed by the high-level search. We make the following contributions to solve the MAPF problem with imperfect plan executio...
متن کاملMulti-Agent Path Finding with Kinematic Constraints
Multi-Agent Path Finding (MAPF) is well studied in both AI and robotics. Given a discretized environment and agents with assigned start and goal locations, MAPF solvers from AI find collision-free paths for hundreds of agents with userprovided sub-optimality guarantees. However, they ignore that actual robots are subject to kinematic constraints (such as finite maximum velocity limits) and suff...
متن کاملConflict-Based Search for Optimal Multi-Agent Path Finding
In the multi agent path finding problem (MAPF) paths should be found for several agents, each with a different start and goal position such that agents do not collide. Previous optimal solvers applied global A*-based searches. We present a new search algorithm called Conflict Based Search (CBS). CBS is a two-level algorithm. At the high level, a search is performed on a tree based on conflicts ...
متن کاملFinding Near-optimal Solutions in Multi-robot Path Planning
We deal with the problem of planning collisionfree trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their destinations with minimum total cost such that the robots will not collide when following the found trajectories. Our approach starts from individually optimal tra...
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ژورنال
عنوان ژورنال: The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
سال: 2012
ISSN: 2194-9034
DOI: 10.5194/isprsarchives-xxxix-b2-157-2012